CN112513576B - Positioning method and device - Google Patents

Abstract

A navigation method, comprising: acquiring first information, where the first information includes reference position information and/or satellite-related information of a first device, and determining a position of the first device according to the first information; device for navigation. The first device obtains the first information, and determines the location of the first device according to the first information; and finally navigates the first device according to the location of the first device, wherein the first information includes reference location information of the first device and/or The satellite-related information can help the first device to quickly locate or search for satellites, thereby improving the efficiency of the first device to restore navigation.

Description

Positioning method and device

technical field

The present application relates to the field of positioning technology, and in particular, to a positioning method and device.

Background technique

Self-piloting automobile (Autonomous vehicles; Self-piloting automobile), also known as driverless car, computer-driven car, or wheeled mobile robot, is a kind of intelligent car that realizes unmanned driving through a computer system. Self-driving cars rely on the cooperation of artificial intelligence, visual computing, radar, positioning systems, and map systems to allow computers to operate motor vehicles automatically and safely without any human active operation.

Among them, the positioning system is mainly realized by Global Positioning System (GPS) and inertial navigation. With the rapid development of my country's automobile industry and the increase of car owners, the application of GPS will be the general trend of the market. A positioning system is an interrelated assembly or device (component) that is formed to determine a spatial position. This system can ensure that at least 4 satellites can be observed simultaneously at any point on the earth at any time, so as to ensure that the satellites can collect the latitude, longitude and altitude of the observation point, so as to realize functions such as navigation, positioning and timing. This technology can be used to guide aircraft, ships, vehicles, and individuals to safely and accurately follow a chosen route and arrive at their destination on time.

The self-driving car uses GPS positioning method for positioning. The basic principle of GPS navigation system is to measure the distance between the satellite with known position and the receiver of the user, and then combine the data of multiple satellites to know the specific position of the receiver. . When the car is outdoors, the GPS signal is good, and the star search is fast, which can meet the needs of automatic driving. However, when the car starts navigation in the underground garage and the car reaches the ground, the search for satellites is very slow, because in places where there is no GPS and no signal, the system will continue to search for satellites, and the satellite information of the last positioning will be deleted and become blank. Therefore, after leaving the garage, the system will be slow to search for signals again, resulting in the inability of the navigation system to meet the high timeliness requirements in automatic driving scenarios.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a navigation method and apparatus, so that a device can quickly locate and search for satellites.

In a first aspect, a navigation method is provided, applied to a first device, and the method includes:

acquiring first information, where the first information includes reference location information and/or satellite-related information of the first device, and determining the location of the first device according to the first information;

The first device is navigated based on the location of the first device.

In this embodiment of the present application, the first device obtains the first information, and determines the location of the first device according to the first information; and finally navigates the first device according to the location of the first device. The first information includes reference position information and/or satellite-related information of the first device, which can help the first device to quickly locate or search for satellites, thereby improving the efficiency of the first device to restore navigation.

In an optional example, when the first information is reference location information, the acquiring the first information includes:

The reference position information is acquired according to the reference object.

In an optional example, the reference object includes at least one of a high-precision map, a two-dimensional code, and a road sign.

In an optional example, the obtaining the first information includes:

The first information sent by the second device is received.

In an optional example, the second device is a roadside unit and/or other device.

In an optional example, before the receiving the first information provided by the second device, the method further includes:

Sending request information of the first information to the second device, where the request information includes a content indication of the first information.

In an optional example, when the second device is another device, the first information is instructed to be sent by the other device according to the second information sent by the roadside unit.

In an optional example, when the second device is a roadside unit and other devices, and the first information includes reference location information and satellite-related information of the first device, the roadside unit provides the first device The reference position information of the other device provides satellite related information.

In an optional example, the first device and the other devices are vehicle terminals.

In an optional example, the other device is another vehicle terminal outside the garage exit.

In an optional example, the reference location information of the first device includes multiple reference locations and identifiers of the multiple reference locations.

In an optional example, the reference location information of the first device includes at least one of longitude coordinates, latitude coordinates, altitude coordinates, pseudorange observations, and carrier phase observations.

In this embodiment of the present application, the first device may obtain reference location information through a reference, or receive reference location information from a second device. The second device may be a roadside unit, other devices, or a roadside unit. Side unit combined with other equipment. In addition, when the second device is another device, the reference location information sent by the other device may be sent by a request or prompt from the roadside unit. In this process, by providing the reference position information for the first device, the positioning process of the first device can be optimized, which helps the first device to quickly complete its own positioning.

In an optional example, the satellite-related information includes at least one of the number of satellites found, the angle of each satellite, the frequency of each satellite, time information of positioning, and satellite ephemeris information.

In this embodiment of the present application, the first device may receive satellite-related information from a second device, and the second device may be a roadside unit or a vehicle terminal, or may be a roadside unit and a vehicle terminal, and the satellite information received by the first device The relevant information may be sent by the roadside unit or the vehicle terminal alone, or may be jointly sent by the roadside unit and the vehicle terminal, and then the first device searches for satellites according to the received satellite-related information. In this process, by directly providing satellite-related information to the first device, the satellite search function of the first device is quickly restored, which effectively avoids the problem of slow satellite search caused by the first device re-searching for satellites.

In a second aspect, a navigation method is provided, applied to a second device, and the method includes:

Send first information to the first device, where the first information includes reference location information and/or satellite-related information of the first device, so that the first device determines the location of the first device according to the first information position, and then navigate the first device.

In an optional example, the second device is a roadside unit and/or other device.

In an optional example, before sending the first information to the first device, the method further includes:

Receive request information sent by the first device, where the request information includes a content indication of the first information.

In an optional example, when the second device is another device, the other device is also used for:

Second information sent by the roadside unit is received, where the second information is used to instruct the other device to send the first information to the first device.

In an optional example, when the second device is a roadside unit and other devices, and the first information includes reference location information and satellite-related information of the first device, the roadside unit provides the first device The reference position information of the other device provides satellite related information.

In an optional example, the first device and the other devices are vehicle terminals.

In an optional example, the other device is another vehicle terminal outside the garage exit.

In an optional example, the reference location information of the first device includes multiple reference locations and identifiers of the multiple reference locations.

In a third aspect, a navigation device is provided, the device comprising:

an input unit, configured to acquire first information, where the first information includes reference position information and/or satellite-related information of the first device;

The processing unit is configured to determine the position of the first device according to the first information; and navigate the first device according to the position of the first device.

In an optional example, the input unit is specifically used for:

The reference position information is acquired according to the reference object.

In an optional example, the input unit is specifically used for:

The first information sent by the second device is received.

In an optional example, the apparatus further includes an output unit for:

Sending request information of the first information to the second device, where the request information includes a content indication of the first information.

In a fourth aspect, an auxiliary navigation device is provided, the device comprising:

An output unit, configured to send first information to a first device, where the first information includes reference position information and/or satellite-related information of the first device, so that the first device can determine the information according to the first information. position of the first device, and then navigate the first device.

In an optional example, the device further includes an input unit for:

Receive request information sent by the first device, where the request information includes a content indication of the first information.

In an optional example, when the auxiliary navigation device is other equipment than the roadside unit, the input unit is further used for:

Second information sent by the roadside unit is received, where the second information is used to instruct the other device to send the first information to the first device.

In a fifth aspect, a communication device is provided, comprising: a processor and a memory, the processor and the memory being electrically coupled;

The processor invokes some or all of the computer program instructions stored in the memory to cause the communication device to perform any of the methods as described in the first aspect or the second aspect.

In a sixth aspect, a computer-readable storage medium is provided, wherein computer-readable instructions are stored in the computer-readable storage medium, and when the computer reads and executes the computer-readable instructions, the computer is made to execute the Any of the methods of the one aspect or the second aspect.

In a seventh aspect, an embodiment of the present application provides a communication system, where the communication system includes the navigation device described in the third aspect and the auxiliary navigation device described in the fourth aspect. Optionally, the communication system may further include Control plane equipment, other network equipment and/or terminals.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below.

1 is a schematic diagram of a GPS navigation system according to an embodiment of the present application;

FIG. 2A is a schematic flowchart of a navigation method provided by an embodiment of the present application;

2B is a schematic diagram of obtaining reference location information from a roadside unit in a single exit scenario provided by an embodiment of the present application;

2C is a schematic diagram of acquiring a carrier phase observation value provided by an embodiment of the present application;

2D is a schematic diagram of obtaining reference location information from a roadside unit under a multi-exit situation provided by an embodiment of the present application;

2E is a schematic diagram of obtaining reference location information in another multi-exit situation provided by an embodiment of the present application;

2F is a schematic diagram of acquiring reference location information from other devices according to an embodiment of the present application;

FIG. 2G is another schematic diagram of acquiring reference location information from other devices according to an embodiment of the present application;

FIG. 3 is a schematic flowchart of another navigation method provided by an embodiment of the present application;

FIG. 4 is a schematic flowchart of another navigation method provided by an embodiment of the present application;

FIG. 5 is a schematic flowchart of another navigation method provided by an embodiment of the present application;

FIG. 6 is a structural block diagram of a communication device provided by an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a navigation device according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of an auxiliary navigation device according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

The Global Positioning System (GPS) is a satellite system composed of 24 satellites covering the world. It is the second-generation satellite navigation system in the United States based on the Meridian satellite navigation system. , and finally achieve the purpose of using GPS for navigation and positioning. Please refer to FIG. 1. FIG. 1 is a schematic diagram of a GPS navigation system provided by an embodiment of the present application. As shown in FIG. 1, the GPS system adopts the successful experience of the meridian system. Like the meridian system, the GPS positioning system consists of a space part. , ground monitoring part and user receiver three parts. As shown in FIG. 1 , the space part is composed of a plurality of GPS satellites 100 , the ground monitoring part 110 includes a master control station, a monitoring station and an injection station, and the user receiver 120 is 120 . The basic principle of the GPS navigation system is to measure the distance between the satellites with known positions and the receiver of the user, and then the specific position of the receiver can be known by synthesizing the data of multiple satellites. To achieve this, the position of the satellite can be found in the satellite ephemeris according to the time recorded by the onboard clock. The distance from the user to the satellite is obtained by recording the time it takes for the satellite signal to propagate to the user, and then multiplying it by the speed of light (due to the interference of the ionosphere in the atmosphere, this distance is not the real distance between the user and the satellite, but Pseudo-range (pseudo-range, PR)). Among them, the ground monitoring part 110 is responsible for generating the navigation message, the calculated satellite ephemeris and the correction number of the satellite clock difference, etc. The GPS satellite 100 receives and stores the navigation message from the ground control part 110 . When the GPS satellite is working normally, it will continuously transmit the navigation message with the pseudo-random code (pseudo code for short) composed of 1 and 0 binary symbols. The navigation message includes satellite ephemeris, working status, clock correction, ionospheric delay correction, atmospheric refraction correction and other information. The contents of the navigation message mainly include telemetry code, conversion code, 1st, 2nd, and 3rd data blocks, the most important of which is ephemeris data. The user receiver 120 searches for and receives the GPS signal, and demodulates the navigation message therefrom, or, as shown in FIG. 1, can also assist the positioning through the mobile network 130, and the mobile network 130 tracks and demodulates the GPS signal, and then forwards it To the user receiver 120, the user receiver 120 searches for satellites according to the GPS signal and obtains the navigation message; finally, the user receiver 120 extracts the satellite time from the navigation message and compares it with its own clock to know the satellite and the user. Then use the satellite ephemeris data in the navigation message to calculate the position of the satellite when the message was transmitted, and the user's position and velocity in the WGS-84 geodetic coordinate system can be known.

The above-mentioned user receiver may be user equipment (user equipment, UE), mobile station (mobile station, MS), mobile terminal (mobile terminal, MT), etc., and is a device that provides voice and/or data connectivity to users. For example, terminal devices include handheld devices with wireless connection functions, vehicle-mounted devices, IoT devices, and the like. At present, the terminal device can be: mobile phone (mobile phone), tablet computer, notebook computer, PDA, mobile internet device (mobile internet device, MID), wearable device, virtual reality (virtual reality, VR) device, augmented reality ( augmented reality (AR) equipment, wireless terminals in industrial control, wireless terminals in self driving, wireless terminals in remote medical surgery, and smart grids A wireless terminal, a wireless terminal in transportation safety, a wireless terminal in a smart city, or a wireless terminal in a smart home, etc. It may also be a terminal device in a 5G network, a future evolved public land mobile communication network (Public Land Mobile Network, PLMN), or a terminal device in other future communication systems, and the like.

According to the above description, in the GPS positioning process, the user receiver needs to search for satellite signals, and then performs positioning and navigation by receiving the navigation messages sent by the satellites. However, in some cases, the user receiver may not be able to search for satellite signals. The user receiver takes the vehicle terminal as an example. For example, when the vehicle terminal passes through the underground garage, tunnel, or under the bridge and other closed extreme scenarios with shielding materials, the satellite signal cannot usually be found. Search Star GPS will not work properly.

Based on the above reasons, please refer to FIG. 2A , which is a schematic flowchart of a navigation method provided by an embodiment of the present application. As shown in FIG. 2A , the method includes the following steps:

101. A first device acquires first information, where the first information includes reference location information and/or satellite-related information of the first device, and determines a location of the first device according to the first information.

The first device refers to the user receiver described in the above content. Taking the vehicle terminal as an example, when the vehicle is outdoors, the navigation is started, and the star search is very fast. But when the car starts navigation in the underground garage and the car drives from the garage to the ground, the search for satellites is very slow, because in places where there is no GPS signal, the system will continue to search for satellites, and the satellite information of the last positioning will be deleted and become blank. Therefore, after leaving the garage, the system re-searches for signals, resulting in slow satellite search, which in turn makes it impossible for the vehicle terminal to complete the positioning.

Based on the above problem, one of the solutions is to obtain the reference location information of the first device by the first device, and determine the location of the first device according to the reference location information.

The reference location information may be one or more of longitude coordinates, latitude coordinates, altitude coordinates, pseudorange observations, and carrier phase observations. The absolute position information of the reference position can be accurately described by the traditional three position data of longitude coordinates, latitude coordinates and altitude coordinates, so these three position data can be acquired simultaneously or partially. The pseudorange observation value refers to the distance observation value between the satellite and the receiver antenna phase center. Due to the inevitable error of the receiver clock and the satellite clock, and the signal propagation process is affected by the troposphere and the ionosphere, it is not the satellite to the receiver. The true distance is called pseudorange; the carrier phase measurement is the measured phase delay between the GPS satellite carrier signal and the receiver antenna. The location of the first device can be determined from both the pseudorange observations and the carrier phase measurements.

However, the first device may acquire these kinds of reference location information in different ways.

Optionally, when the first information is reference location information, acquiring the first information includes: acquiring reference location information according to a reference. Optionally, the reference object includes at least one of a high-precision map, a two-dimensional code, and a road sign.

When the vehicle leaves the garage, the vehicle terminal can perceive a certain road gate at the exit of the basement through at least one of the sensors such as millimeter-wave radar, lidar, and camera. Name, etc., or according to a certain building logo, QR code logo, etc. at the exit of the garage, combined with a high-precision map or the mapping relationship between intersections and these logos, to obtain the initial position information of the vehicle when it leaves the warehouse.

A specific example is that the vehicle terminal captures the road sign at the exit of the garage through the camera, and parses the key information as "exit B", and then the vehicle terminal matches "exit B" with the high-precision map, and obtains the information from the high-precision map. The reference location information of exit B may include latitude and longitude coordinates, or also include altitude coordinates. The matching process between the high-precision map and the key information can be performed at the vehicle terminal, or the vehicle terminal can send the key information to the cloud, match it in the cloud, and then feed it back to the vehicle terminal. In the embodiments of the present application, the reference objects include road signs and high-precision maps.

In the embodiment of the present application, the vehicle terminal obtains the reference position information according to the reference object detected by itself, so that the accuracy of the position information can be ensured.

Optionally, acquiring the first information includes: receiving the first information sent by the second device.

When the first information includes reference position information, the first device can not only measure itself according to the reference object and obtain the reference position information according to the data processing result of the measurement information to determine its own position, but also can receive the reference position information sent by the second device. to confirm your location.

The second device may be a roadside unit. Please refer to FIG. 2B . FIG. 2B is a schematic diagram of obtaining reference location information from a roadside unit in a single exit scenario provided by an embodiment of the application. As shown in FIG. 2B , the garage includes one garage exit. 202 , when the vehicle just drives out of the garage exit 202 , the vehicle terminal 201 (the first device) acquires reference location information from the roadside unit 200 .

What the vehicle terminal 201 acquires from the roadside unit 200 may be one or more location data among the longitude coordinates, latitude coordinates and altitude coordinates of the roadside unit, thereby accurately describing the absolute location information of the reference location. Alternatively, the vehicle terminal 201 may obtain a pseudorange observation value from the roadside unit 200, the pseudorange observation value is the distance observation value between the GPS satellite and the phase center of the receiving antenna of the roadside unit, and the vehicle terminal regards it as itself and the GPS satellite. Pseudo-range observations between and determine its own position according to the pseudo-range observations.

整周数N未知，此时载波相位观测值

接收机锁定卫星信号并进行首次载波相位测量后，就用多普勒计数器记录载波相位变化过程的整波段数，记录的整波段数称为整周计数

此时完整的载波相位观测值包括三部分

由于接收机无法给出N，需要通过其它途径获得，只要接收机能保持对卫星信号的连续跟踪而不失锁，那么对统一卫星信号进行的连续载波相位观测值都含有同一整周模糊度。由于卫星遮挡等原因会导致整周计数产生跳变，称为周跳。在对载波进行数据处理之前还需要进行周跳探测和修复的工作。What the vehicle terminal 201 acquires from the roadside unit 200 may also be the carrier phase observation value. The carrier is a cosine wave without any mark. Please refer to FIG. 2C. FIG. 2C is a schematic diagram of obtaining an observation value of the carrier phase provided by the embodiment of the application. As shown in FIG. 2C, the phase detector in the user receiver is only Can measure the part of carrier phase less than one full cycle

The integer number N is unknown, at this time the carrier phase observation value

After the receiver locks the satellite signal and performs the first carrier phase measurement, it uses the Doppler counter to record the number of whole bands of the carrier phase change process. The number of recorded whole bands is called the whole cycle count.

At this time, the complete carrier phase observation value includes three parts

Since the receiver cannot give N, it needs to be obtained by other means. As long as the receiver can keep track of the satellite signal continuously without losing lock, the continuous carrier phase observations of the unified satellite signal all contain the same integer ambiguity. Due to satellite occlusion and other reasons, the whole cycle count will jump, which is called cycle slip. Before the data processing of the carrier, the work of cycle slip detection and repair needs to be carried out.

The roadside unit 200 is located outside the garage exit, and its position is relatively fixed and stable. Therefore, its GPS receiver can maintain continuous tracking of satellite signals without losing lock, and the probability of cycle slips is relatively small. Therefore, when the vehicle is blocked from When the underground garage is driven out and the fast star search capability cannot be recovered, the pseudorange observation value and/or carrier phase observation value sent by the roadside unit 200 can be used to help it quickly locate.

In addition, the reference position information in the roadside unit 200 may be measured and acquired by at least one of sensors such as millimeter-wave radar, lidar, and camera integrated in the roadside unit itself, or may be obtained by other terminals that can communicate with the roadside unit For sending, the terminal may be in a static state or a moving state, for example, it may be a fixed network access device or a moving vehicle-mounted terminal or a flying terminal.

Optionally, the reference location information of the first device includes multiple reference locations and identifiers of the multiple reference locations.

In the single-exit scenario, the vehicle leaves from the garage exit, and the roadside unit can send the reference position information of the current exit. In some cases, the basement has multiple exits, and the vehicle terminal needs to determine which exit to take at the end, and then determine the location of the vehicle. Please refer to FIG. 2D . FIG. 2D is a schematic diagram of obtaining reference location information from roadside units in the case of multiple exits provided by an embodiment of the present application. As shown in FIG. 2D , the garage includes multiple garage exits 202 , but not necessarily each Roadside units 200 are provided at the exits, but multiple exits correspond to one roadside unit 200 . The roadside unit 200 sends each exit identifier, including the exit number or name, and the location information corresponding to the exit identifier to the vehicle terminal 201 as the reference location information received by the vehicle terminal. When the vehicle leaves the exit, the current exit number or name can be determined by scanning a sign or QR code; or the vehicle can identify the road signs installed near the exit of the parking lot through sensors. The road signs are codes generated according to certain rules or Pattern, the nearby exit information corresponding to the road sign is mapped in the corresponding code or pattern. For example, when the vehicle drives out in FIG. 2D , it is determined by scanning the road sign that it is currently Exit B, then the vehicle terminal 201 can determine the location information of Exit B according to the reference location information obtained from the roadside unit 200 , and then determine the current location of the vehicle. Alternatively, referring to FIG. 2E, FIG. 2E is another schematic diagram of obtaining reference location information in the case of multiple exits provided by this embodiment of the application. As shown in FIG. 2E, the garage includes multiple garage exits 202, and each exit is provided with The roadside unit 200, each roadside unit 200 sends the same reference location information to the vehicle terminal, including exit signs of multiple garage exits, and location information corresponding to the exit signs. Then, the vehicle determines the current exit as exit B by scanning a marker, two-dimensional code or road sign, and obtains the location information corresponding to exit B to determine the current location of the vehicle. It is assumed that the reference position information received by the vehicle terminal is shown in Table 1:

Table 1

export sign location information Exit A (East longitude X11, North latitude X12) Exit B (East longitude X21, North latitude X22) Exit C (East longitude X31, North latitude X32) Exit D (East longitude X41, North latitude X42)

Wherein X11 to X42 in the table are longitude and latitude values, for example (East longitude X11, North latitude X12) can be (East longitude 115.7°, North latitude 39.4°). The distance between each exit of the same garage is closer, so the latitude and longitude coordinates can retain more decimal places, such as 2 or 3 decimal places, etc., in order to more accurately locate each exit location.

When the vehicle terminal recognizes that it is currently exit B, it can be matched with the reference position information in Table 1 to obtain (east longitude X21, north latitude X22) as the current position of the vehicle terminal.

Alternatively, a large number of sensors can be deployed in the parking lot, such as cameras, radar, geomagnetic, and so on. Based on the detection information acquired by a large number of sensors in the parking lot, the parking lot processor can easily determine the location of the vehicle, and then send the location information of the vehicle to the vehicle, so that the vehicle can also obtain its exit information. The method of exporting information is not specifically limited.

In the above process, when the roadside unit sends the reference position information to the vehicle terminal, it can be sent according to a certain period, for example, it is broadcast to passing vehicles once every 1 second, and of course it can also be set to other period values, such as 0.5s, 0.2s , 2s, etc., which are not specifically limited here; or, the roadside unit can send the request information to the vehicle terminal according to the request information sent by the vehicle terminal to obtain the reference position information; or the roadside unit can actively detect whether there is a vehicle leaving the garage exit, if If yes, send the reference position information to the corresponding vehicle terminal.

In this embodiment of the present application, the reference location information is provided by the roadside unit. Because the location of the roadside unit is fixed and the signal is stable, the reference location information sent by the roadside unit is more reliable and easy to obtain. Obtaining the reference position information in the unit can improve the efficiency of obtaining.

The second device may also be other devices. That is to say, the first device may obtain the first information from other devices, and the other devices may be other fixed network access devices outside the garage exit, or a moving vehicle-mounted terminal or flight terminal.

For example, when the first device is a vehicle terminal, in the scenario of driving from a garage exit, please refer to FIG. 2F . FIG. 2F is a schematic diagram of obtaining reference location information from other devices provided by an embodiment of the present application, as shown in FIG. 2F As shown, when the vehicle terminal 201 (the first device) drives out of the garage, when the other devices are other vehicle terminals 203 passing by the garage, it can send the reference location information to the vehicle terminal 201 (the first device) driving out of the garage, including The longitude and latitude coordinates and altitude coordinates of other vehicle terminals 203 themselves, or pseudorange observations or carrier phase observations obtained by other vehicle terminals 203 during GPS navigation. Other vehicle terminals 203 may send reference location information to specific vehicle terminals according to the received request information. The request information may be sent by the vehicle terminal 201 exiting from the garage exit, or may be sent by the roadside unit 200 at the garage exit.

In this embodiment of the present application, the other devices may be any devices that can communicate with the vehicle terminal. Therefore, in the case where no roadside unit is set at the exit of the garage, or the roadside unit is faulty, when the other device receives the request from the vehicle terminal, Sending the reference position information to the vehicle terminal improves the probability that the vehicle terminal successfully obtains the reference position information.

In addition, because the vehicle terminal is a moving body, its reference position is also changing. Please refer to FIG. 2G. FIG. 2G is another schematic diagram of obtaining reference position information from other devices provided in this embodiment of the application. When the terminal 201 is driving from the garage exit, there are other vehicles passing by outside the garage, and the distance to the vehicle terminal is closer than the distance between the roadside unit and the vehicle terminal, then the vehicle terminal 201 can send a request to the other vehicle terminal 203 information to obtain the reference position information; or the roadside unit 200 may send prompt information to other vehicle terminals 203 when detecting that the distance between the vehicle terminal 201 and other vehicle terminals 203 is smaller than the distance The vehicle terminal 203 transmits the reference position information to the vehicle terminal 201 . The reference location information sent by the other vehicle terminals 203 may be the location information located by the current self-positioning system.

It can be seen that, in this embodiment of the present application, considering the motion characteristics of the first device, the second device may be another vehicle terminal. When the other vehicle terminal moves near the first device, the other vehicle terminal sends the reference position to the first device through the other vehicle terminal. information, which can improve the accuracy of obtaining the location information of the first device according to the reference location information.

In addition, if the vehicle terminal receives multiple pieces of reference position information sent by multiple second devices, it can select the reference position information closest to the vehicle terminal as its own position information. Alternatively, the accurate position information of the vehicle terminal may also be calculated according to the plurality of reference position information and the distances between the plurality of second devices and the vehicle terminal. The distance may be determined by vehicle terminal detection, or may be determined according to the time sequence of obtaining the reference position information. Usually, the second device that first obtains its reference position information is closest to the vehicle terminal.

Alternatively, the second device may also be a roadside unit and other devices. Even so, the first device can receive reference location information from the RSU and other devices at the same time. The location of the roadside unit is fixed, so the roadside unit can send the reference location information obtained by itself, such as latitude and longitude coordinates and altitude coordinates to the first device; other devices may include GPS positioning systems, so other devices can obtain their own The reference position information such as pseudorange observations and carrier phase observations are sent to the first device, and the first device verifies each other according to the received reference position information of different types, obtains the final position, and improves the accuracy of the obtained position. Alternatively, the roadside unit may send part of the reference position information obtained by itself, such as the garage exit sign and the position of the garage exit, to the first device; other vehicle devices may send another part of the reference position information obtained by themselves, such as the image captured by the camera. The garage road sign is sent to the first device; the first device comprehensively obtains the final position according to the reference position information obtained from two different second devices, so as to improve the reliability of the obtained position.

It can be seen that, in this embodiment of the present application, the first device may obtain reference location information through a reference, or receive reference location information from a second device, and the second device may be a roadside unit, or other devices, or It is a combination of roadside units and other equipment. In addition, when the second device includes other devices, the reference location information sent by the other devices may be sent by a request or prompt from the roadside unit. In this process, by providing the reference position information for the first device, the positioning process of the first device can be optimized, which helps the first device to quickly complete its own positioning.

Another method to solve the problem of slow satellite search caused by the system re-searching for signals after the vehicle terminal leaves the garage is that the first device receives satellite-related information sent by the second device.

The satellite-related information includes at least one of the number of satellites found, the angle of each satellite, the frequency of each satellite, time information for positioning, and satellite ephemeris information. After receiving the relevant information of these satellites, the first device quickly resumes searching for satellites, establishes a connection with these satellites and receives satellite signals, and completes its own positioning and navigation.

Likewise, the second device may comprise a roadside unit. The roadside unit includes a GPS satellite positioning system, which can directly obtain satellite-related data from GPS satellites and store it; or the roadside unit can connect with other terminals or devices with a GPS positioning system, and obtain satellite-related data from it. The roadside unit can broadcast satellite-related information to the vehicle terminal (first device) at the exit of the garage according to a certain period; or the roadside unit can actively detect whether there is a vehicle leaving the garage exit, and then send satellite-related information to the detected vehicle. Alternatively, the roadside unit may feed back the satellite-related information to the requesting vehicle terminal after receiving the satellite-related information request initiated by the vehicle terminal.

The second device may include other devices, and other devices may also directly acquire satellite-related data through a GPS satellite positioning system, or acquire satellite-related data from other terminals. For example, other devices may be other vehicle terminals, other vehicle terminals may perform GPS satellite positioning, and at the same time, satellite-related information is stored in other vehicle terminals, and other vehicle terminals send satellite-related information to the first device, and the first device can directly Satellite related information restores satellite search. So that the first device can quickly restore the search star. In addition, the other device may also be a mobile phone terminal device, and the mobile phone terminal device has a better GPS satellite positioning function, so the mobile phone terminal device can also send satellite-related information to the first device.

The second device may also include both roadside units and other devices. The first device can obtain satellite-related data describing the same parameters from the roadside unit and other devices at the same time, for example, both obtain satellite ephemeris data, and then perform mutual verification to determine the final satellite ephemeris data; Obtain satellite-related data describing different parameters from the roadside unit and vehicle terminal, for example, obtain satellite ephemeris data from the roadside unit, obtain the number of satellites searched, the angle and frequency of each star, etc. from the vehicle terminal, and then The first device comprehensively searches for satellites based on these different satellite-related data. In this process, when the roadside unit and other vehicle terminals send satellite-related data, they can send both at the same time, or the roadside unit can send satellite-related data, and then notify other vehicle terminals to send to the first device, and other vehicle terminals The ephemeris data may be sent in real time as a supplement according to the requirements of the first device.

It should be noted that when the second device provides satellite-related information to the first device, the second device is also autonomously searching for satellites to obtain satellite-related information at the same time. Therefore, the first device can directly restore the satellite search according to the complete satellite-related information (including the number of satellites, the angle of each satellite, the frequency of each satellite, the time information of positioning, satellite ephemeris data, etc.) sent by the second device. , or based on the part of the satellite-related information currently searched by itself, combined with another part of the satellite-related information obtained from the second device as a supplement, so as to achieve rapid recovery of the satellite search.

It can be seen that in this embodiment of the present application, the first device may receive satellite-related information from the second device, and the second device may be a roadside unit or a vehicle terminal, or may be a roadside unit and a vehicle terminal. The satellite-related information received can be sent independently by the roadside unit or the vehicle terminal, or can be jointly sent by the roadside unit and the vehicle terminal, and then the first device searches for satellites according to the received satellite-related information. In this process, by directly providing satellite-related information to the first device, the satellite search function of the first device can be quickly restored, which effectively avoids the recovery caused by the first device needing to obtain all satellite-related information from GPS satellites to restore the satellite search function. Star search slow problem.

Another method to solve the problem of slow satellite search caused by the system re-searching for signals after the vehicle terminal leaves the garage is that the first device receives the reference position information and satellite-related information sent by the second device.

That is to say, the first information obtained by the first device may include both reference position information and satellite-related information, wherein the method for obtaining the reference position information is as described above, which may be obtained through a reference, and sent separately through the roadside unit or the vehicle terminal. , or jointly sent by the roadside unit and the vehicle terminal; the method of obtaining satellite-related information can also be sent by the roadside unit or the vehicle terminal separately, or jointly sent by the roadside unit and the vehicle terminal.

In a feasible example, the reference location information may be sent by the roadside unit to the first device, and other vehicle terminals may send satellite-related information to the first device. Because the roadside unit is just outside the garage exit, assuming that the first device is the vehicle terminal driving out of the garage exit, the reference position information sent by the roadside unit to the vehicle terminal is closer to the vehicle terminal, which has more reference value. While other vehicle terminals are in a navigation state when they pass outside the garage, the satellite-related information sent by them is also valuable for the satellite search of vehicle terminals driving out of the garage exit.

It can be seen that, in the embodiment of the present application, the first device can obtain reference position information and satellite-related information at the same time, and can simultaneously realize fast positioning and fast satellite search of the first device, thereby enabling the first device to quickly resume navigation and improve the recovery from no signal Area to signal area restores the efficiency of navigation.

102. The first device navigates according to the location of the first device.

The first device can complete the positioning according to the received reference position information; or can quickly recover the satellite search according to the received satellite-related information, and then further complete the positioning in combination with the satellite signals it has received; finally, the current position of the first device can be determined. Location. After the location of the first device is determined, the final purpose is to navigate the first device, that is, to plan a route for the first device according to the target location and the current location of the first device. The first device moves forward according to the planned route. During this process, the first device will continue to perform star search and positioning, and update the planned route in time.

It can be seen that, in this embodiment of the present application, the first device obtains the first information and determines the position of the first device according to the first information; finally, the first device is navigated according to the position of the first device. The first information includes reference position information and/or satellite-related information of the first device, which can help the first device to quickly locate or search for satellites, thereby improving the efficiency of the first device to recover satellites and accurately navigate.

Please refer to FIG. 3, which is a schematic flowchart of another navigation method provided by an embodiment of the present application. As shown in FIG. 3, the method includes the following steps:

301. The vehicle terminal sends request information for first information to a second device, where the request information includes a content indication of the first information, and the second device includes a roadside unit or other device;

302. The second device sends first information to the vehicle terminal, where the first information includes reference location information and/or satellite-related information;

303. The vehicle terminal determines the location of the vehicle terminal according to the reference location information and/or satellite-related information.

In the embodiment of the present application, the vehicle terminal drives out from the garage exit, and there is a problem that it is difficult to search for stars, so that positioning and navigation cannot be performed. Therefore, the vehicle terminal can send the request information of the first information to the roadside unit or other equipment, wherein the request The information includes the content indication of the first information, where the content indication refers to the content of the first information that the vehicle-end device expects the second device to send, such as reference location information or satellite-related information, etc., or it may be reference location information and satellite information. The relevant information is not specifically limited here. Among them, obtaining the reference position information can help the vehicle terminal to locate quickly, and obtaining the satellite-related information can help the vehicle terminal to quickly search for satellites, and obtaining two kinds of information at the same time can help the vehicle terminal to locate quickly, and then locate through the satellite search. The position information of the vehicle terminal is further corrected to improve the positioning accuracy while ensuring the positioning efficiency. It is helpful for the vehicle terminal to quickly recover the star search, thereby ensuring the subsequent navigation accuracy.

Please refer to FIG. 4. FIG. 4 is a schematic flowchart of another navigation method provided by an embodiment of the present application. As shown in FIG. 4, the method includes the following steps:

401. The roadside unit sends second information to other vehicle terminals, where the second information is used to prompt the other vehicle terminals to send the first information to the vehicle terminal;

402. The other vehicle terminal sends first information to the vehicle terminal, where the first information includes reference location information and/or satellite-related information;

403. The vehicle terminal determines the location of the vehicle terminal according to the reference location information and/or satellite-related information.

In the embodiment of the present application, when the vehicle terminal exits from the garage exit, there is a problem that it is difficult to search for satellites, so that positioning and navigation cannot be performed. At the same time, its communication function may also have obstacles. Therefore, when the roadside unit at the garage exit detects the vehicle terminal , notify other vehicle terminals passing by outside the garage to send reference position information or satellite-related information to the vehicle terminal, or send both kinds of information at the same time, wherein the roadside unit detects the position of the vehicle terminal and requests the first information from other vehicle terminals , instead of the vehicle terminal itself initiating the request application for the first information, it can avoid the communication delay caused by the poor communication effect when the vehicle terminal just leaves the garage. Sending the first information to the vehicle terminal through other vehicle terminals, that is, sending the same navigation-related information to the vehicle terminal for navigation, can improve the reference value of the first information. The reference position information obtained by the vehicle terminal can help the vehicle terminal to locate quickly, and the satellite-related information can be obtained to help the vehicle terminal to quickly search for satellites. The recovery of the vehicle terminal further corrects the position information of the vehicle terminal, and improves the positioning accuracy while ensuring the positioning efficiency. It is helpful for the vehicle terminal to quickly restore the satellite search and positioning capabilities.

Please refer to FIG. 5. FIG. 5 is a schematic flowchart of another navigation method provided by an embodiment of the present application. As shown in FIG. 5, the method includes the following steps:

501. The roadside unit sends reference location information to the vehicle terminal;

502. The other vehicle terminal sends satellite-related information to the vehicle terminal;

503. The vehicle terminal determines the location of the vehicle terminal according to the reference location information and/or satellite-related information.

In the embodiment of the present application, the vehicle terminal exits from the garage exit, and there is a problem that it is difficult to locate and navigate, so the roadside unit outside the garage and other vehicle terminals passing outside the garage can Detect and send the first information to it. Among them, the roadside unit sends reference position information, because the position of the roadside unit and the vehicle terminal is closer, so the reference position information sent by the roadside unit has more reference value; other vehicle terminals send satellite related information, because the satellites of other vehicle terminals The relevant information is used for vehicle navigation, and the vehicle terminal also needs to perform vehicle navigation. The satellite-related information obtained from other vehicle terminals has higher reference value.

Optionally, before the other vehicle terminal sends the satellite-related information to the vehicle terminal, the method further includes:

504. The roadside unit sends second information to other vehicle terminals, where the second information is used to prompt the other vehicle terminals to send satellite-related information to the vehicle terminal.

Because when the vehicle terminal just drives out of the garage exit, in addition to the GPS navigation function, there may be obstacles in the communication function, so the vehicle terminal can not send the request information, but when the roadside unit detects the vehicle terminal, it will automatically send to the vehicle terminal. The vehicle terminal sends reference location information; in addition, other vehicle terminals outside the garage are far away from the vehicle terminal, or the vehicle terminal communication function has not been restored, so the roadside unit needs to send the second information to other vehicle terminals to prompt other vehicle terminals to The vehicle terminal sends satellite-related information. Communication delay caused by poor communication effect when the vehicle terminal just leaves the garage can be avoided.

The reference position information obtained by the vehicle terminal can help the vehicle terminal to locate quickly, and the satellite-related information can help the vehicle terminal to quickly search for satellites. The two kinds of information obtained at the same time can help the vehicle terminal to locate quickly, and then locate through the satellite search. The position information of the vehicle terminal is further corrected to improve the positioning accuracy while ensuring the positioning efficiency. It is helpful for the vehicle terminal to quickly restore navigation in the case of loss of positioning information.

FIG. 6 is a structural block diagram of a communication apparatus 600 according to an embodiment of the present application. It should be understood that the communication apparatus 600 can perform each step performed by the first device or the second device in the methods of FIG. 2A and FIGS. 3 to 5 , which will not be described in detail here in order to avoid repetition. The communication device 600 includes: a processor 111 and a memory 113, and the processor 111 and the memory 113 are electrically coupled;

The memory 113 is used to store computer program instructions. Optionally, the memory 113 (Memory#1) is located in the device, and the memory 113 (Memory#2) is integrated with the processor 111, or the memory 113 (Memory#2) is integrated with the processor 111. The memory 113 (Memory#3) is located outside the device;

The processor 111 is configured to execute part or all of the computer program instructions in the memory, and when the part or all of the computer program instructions are executed, the apparatus executes the method described in any of the foregoing embodiments.

Optionally, it further includes: a transceiver 112 for communicating with other devices; for example, acquiring first information, where the first information includes reference position information and/or satellite-related information of the first device.

It should be understood that the communication device 600 shown in FIG. 6 may be a chip or a circuit. For example, a chip or circuit may be provided in a terminal device or a communication device. The transceiver 112 described above may also be a communication interface. Transceivers include receivers and transmitters. Further, the communication apparatus 600 may also include a bus system.

Among them, the processor 111, the memory 113, and the transceiver 112 are connected through a bus system, and the processor 111 is used to execute the instructions stored in the memory 113 to control the transceiver to receive and send signals, and complete the first implementation method involved in this application. device or step of the second device. The memory 113 may be integrated in the processor 111 , or may be provided separately from the processor 111 .

As an implementation manner, the function of the transceiver 112 can be considered to be implemented by a transceiver circuit or a dedicated transceiver chip. The processor 111 can be considered to be implemented by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip. The processor may be a central processing unit (CPU), a network processor (NP), or a combination of CPU and NP. The processor may further include hardware chips or other general purpose processors. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. Above-mentioned PLD can be complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), general array logic (generic array logic, GAL) and other programmable logic devices , discrete gate or transistor logic devices, discrete hardware components, etc., or any combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should also be understood that the memory mentioned in the embodiments of the present application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Wherein, the non-volatile memory may be Read-Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (Erasable PROM, EPROM), Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double DataRate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) And direct memory bus random access memory (Direct Rambus RAM, DR RAM). It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

FIG. 7 is a navigation apparatus 700 provided by an embodiment of the present application, which may be used to execute the above-mentioned navigation method and specific embodiment applied to the first device, and the apparatus may be a communication device or a chip in the communication device. As shown in FIG. 7 , the apparatus includes: an input unit (Input(s)) 121 and a processing unit 122 .

The input unit 121 is configured to acquire first information, where the first information includes reference position information and/or satellite-related information of the first device.

The processing unit 122 is configured to determine the position of the first device according to the first information; and navigate the first device according to the position of the first device.

Optionally, the apparatus further includes an output unit 123, and the output unit 123 is configured to output navigation information.

Optionally, the input unit 121 is further configured to acquire the reference position information according to the reference object or receive the first information sent by the second device.

Optionally, the output unit 123 is further configured to send request information of the first information to the second device, where the request information includes a content indication of the first information.

Optionally, the above-mentioned processing unit 122 may be a chip, an encoder, an encoding circuit or other integrated circuits that can implement the method of the present application.

Since the specific methods and embodiments have been described above, the apparatus 700 is only used to execute the navigation method applied to the first device, so the specific description related to the configuration method, especially the functions of the logic circuit 122 or the output interface 123 can refer to The relevant parts of the corresponding embodiments are not repeated here.

FIG. 8 is an auxiliary navigation apparatus 800 provided by an embodiment of the present application, which may be used to execute the above-mentioned navigation method and specific embodiments applied to a second device. As shown in FIG. 8 , the apparatus includes: an output unit (Output(s)) 133, configured to send first information to a first device, where the first information includes reference location information of the first device and/or satellite-related information, so that the first device determines the location of the first device according to the first information, and then performs navigation of the first device.

Optionally, the apparatus includes an input unit 131, configured to receive request information, where the request information includes a content indication of the first information.

Optionally, the apparatus further includes a processing unit 132, configured to generate the first information.

Optionally, the input unit 131 is configured to receive second information sent by the roadside unit, where the second information is used to instruct the apparatus to send the first information to the first device.

Optionally, the above-mentioned processing unit 132 may be a chip, an encoder, an encoding circuit or other integrated circuits that can implement the method of the present application.

Since the specific methods and embodiments have been introduced above, the apparatus 800 is only used to execute the navigation method applied to the second device, so the specific description related to the configuration method, especially the function of the output interface 133, can refer to the corresponding embodiment. The relevant parts will not be repeated here.

An embodiment of the present application provides a computer storage medium storing a computer program, where the computer program includes a method for executing the foregoing method.

Embodiments of the present application provide a computer program product containing instructions, which, when executed on a computer, cause the computer to execute the method provided above.

An embodiment of the present application provides a communication system, where the communication system includes the above-mentioned navigation device and auxiliary navigation device. Optionally, the communication system may further include other network devices and/or terminals.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and in actual implementation, there may be Additional divisions, eg multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the mutual communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

In addition, each unit in the embodiment of the apparatus of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

It can be understood that, the processor in the embodiments of the present application may be a central processing unit (central processing unit, CPU), and may also be other general-purpose processors, digital signal processors (digital signal processors, DSP), application-specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

The methods in the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are executed in whole or in part. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer program or instructions may be stored in or transmitted over a computer-readable storage medium. The computer-readable storage medium can be any available media that can be accessed by a computer or a data storage device such as a server that integrates one or more available media. The available media can be magnetic media, such as floppy disks, hard disks, magnetic tapes; optical media, such as CD-ROM, DVD; and semiconductor media, such as solid state disks (SSD), random Access memory (random access memory, RAM), read-only memory (read-only memory, ROM) and registers.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

Claims (5)

1. A positioning method, applied to a road side unit, the method comprising:

determining that a first vehicle exits from an underground garage, tunnel or bridge floor;

sending second information to a second vehicle, the second information being used for prompting the second vehicle to send first information to the first vehicle, the first information comprising reference position information and/or satellite-related information for positioning of the first vehicle, the reference position information comprising a plurality of reference positions of a plurality of references and identifications of the plurality of reference positions, wherein the reference position information comprises at least one of:

a longitude coordinate;

latitude coordinates;

an altitude coordinate;

a pseudo-range observed value;

a carrier phase observation.

2. A positioning method, applied to a second vehicle, the method comprising:

receiving second information from a roadside device, wherein the second information is used for prompting the second vehicle to send first information to the first vehicle, the first information comprises reference position information and/or satellite-related information for positioning the first vehicle, and the reference position information comprises a plurality of reference positions of a plurality of reference objects and identifications of the plurality of reference positions;

transmitting the first information to the first vehicle;

wherein the reference location information comprises at least one of:

a longitude coordinate;

latitude coordinates;

an altitude coordinate;

a pseudo-range observed value;

a carrier phase observation.

3. An auxiliary positioning device, the device comprising:

the input unit is used for receiving second information sent by the road side unit, and the second information is used for indicating the device to send first information to the first equipment;

an output unit for sending first information to the first device, the first information comprising reference position information and/or satellite related information for positioning of the first device, the reference position information comprising a plurality of reference positions of a plurality of references and identifications of the plurality of reference positions;

wherein the reference location information comprises at least one of:

a longitude coordinate;

latitude coordinates;

an altitude coordinate;

a pseudo-range observed value;

a carrier phase observation.

4. A communication apparatus, characterized in that,

the method comprises the following steps: a processor and a memory, the processor and the memory being electrically coupled;

the processor invokes computer program instructions stored in the memory to cause the communication device to perform the method of claim 1 or claim 2.

5. A computer-readable storage medium having computer-readable instructions stored thereon which, when read and executed by a computer, cause the computer to perform the method of claim 1 or claim 2.

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